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						<phys:LocalPose>
							<physm:Position>
								<physm:X>-0.1565</physm:X>
								<physm:Y>0.08</physm:Y>
								<physm:Z>-0.05</physm:Z>
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							<physm:Orientation>
								<physm:X>0.9306567</physm:X>
								<physm:Y>0</physm:Y>
								<physm:Z>0</physm:Z>
								<physm:W>0.3658936</physm:W>
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						<phys:TextureFileName />
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							<physm:X>0.5</physm:X>
							<physm:Y>0.5</physm:Y>
							<physm:Z>0.5</physm:Z>
							<physm:W>1</physm:W>
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						<phys:EnableContactNotifications>false</phys:EnableContactNotifications>
						<phys:InnerRadius>0.055999998</phys:InnerRadius>
						<phys:SuspensionTravel>0</phys:SuspensionTravel>
						<phys:Flags>OverrideAxleSpeed</phys:Flags>
						<phys:AxleSpeed>0</phys:AxleSpeed>
						<phys:BrakeTorque>0</phys:BrakeTorque>
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				</WheelShape>
				<Rotations>1.61923659</Rotations>
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			<ChassisShape>
				<phys:BoxState>
					<phys:Name>P3DXMotorBase/Chassis</phys:Name>
					<phys:ShapeId>Box</phys:ShapeId>
					<phys:Dimensions>
						<physm:X>0.393</physm:X>
						<physm:Y>0.18</physm:Y>
						<physm:Z>0.4</physm:Z>
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					<phys:Radius>0</phys:Radius>
					<phys:Material>
						<phys:Name>high friction</phys:Name>
						<phys:Restitution>0</phys:Restitution>
						<phys:DynamicFriction>1</phys:DynamicFriction>
						<phys:StaticFriction>20</phys:StaticFriction>
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					</phys:Material>
					<phys:MassDensity>
						<phys:Mass>9</phys:Mass>
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							<physm:X>0</physm:X>
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						<phys:CenterOfMass>
							<physm:Position>
								<physm:X>0</physm:X>
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							<physm:Orientation>
								<physm:X>0</physm:X>
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								<physm:W>0</physm:W>
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						<phys:Density>0</phys:Density>
						<phys:LinearDamping>0</phys:LinearDamping>
						<phys:AngularDamping>0</phys:AngularDamping>
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					<phys:LocalPose>
						<physm:Position>
							<physm:X>0</physm:X>
							<physm:Y>0.14</physm:Y>
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						<physm:Orientation>
							<physm:X>0</physm:X>
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							<physm:W>-1</physm:W>
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					<phys:TextureFileName />
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						<physm:X>0.8</physm:X>
						<physm:Y>0.25</physm:Y>
						<physm:Z>0.25</physm:Z>
						<physm:W>1</physm:W>
					</phys:DiffuseColor>
					<phys:EnableContactNotifications>false</phys:EnableContactNotifications>
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			<CasterWheelShape>
				<phys:SphereState>
					<phys:Name>P3DXMotorBase/Caster wheel</phys:Name>
					<phys:ShapeId>Sphere</phys:ShapeId>
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						<physm:X>0</physm:X>
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						<physm:Z>0</physm:Z>
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					<phys:Radius>0.025</phys:Radius>
					<phys:Material>
						<phys:Name>small friction with anisotropy</phys:Name>
						<phys:Restitution>0.5</phys:Restitution>
						<phys:DynamicFriction>0.5</phys:DynamicFriction>
						<phys:StaticFriction>1</phys:StaticFriction>
						<phys:MaterialIndex>2</phys:MaterialIndex>
						<phys:Advanced>
							<phys:AnisotropicStaticFriction>0.4</phys:AnisotropicStaticFriction>
							<phys:AnisotropicDynamicFriction>0.3</phys:AnisotropicDynamicFriction>
							<phys:AnisotropyDirection>
								<physm:X>0</physm:X>
								<physm:Y>0</physm:Y>
								<physm:Z>1</physm:Z>
							</phys:AnisotropyDirection>
							<phys:RestitutionCombineMode>Unspecified</phys:RestitutionCombineMode>
							<phys:FrictionCombineMode>Unspecified</phys:FrictionCombineMode>
							<phys:Optical />
						</phys:Advanced>
					</phys:Material>
					<phys:MassDensity>
						<phys:Mass>0.001</phys:Mass>
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							<physm:X>0</physm:X>
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							<physm:Position>
								<physm:X>0</physm:X>
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							<physm:Orientation>
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					<phys:LocalPose>
						<physm:Position>
							<physm:X>0</physm:X>
							<physm:Y>0.025</physm:Y>
							<physm:Z>0.175</physm:Z>
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						<physm:Orientation>
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							<physm:Y>0</physm:Y>
							<physm:Z>0</physm:Z>
							<physm:W>-1</physm:W>
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					</phys:LocalPose>
					<phys:TextureFileName />
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						<physm:X>0.5</physm:X>
						<physm:Y>0.5</physm:Y>
						<physm:Z>0.5</physm:Z>
						<physm:W>1</physm:W>
					</phys:DiffuseColor>
					<phys:EnableContactNotifications>false</phys:EnableContactNotifications>
				</phys:SphereState>
			</CasterWheelShape>
			<RotateDegreesAngleThreshold>0</RotateDegreesAngleThreshold>
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		</Pioneer3DX>
		<LaserRangeFinderEntity xmlns:sim="http://schemas.microsoft.com/robotics/2006/04/simulation.html" xmlns:physm="http://schemas.microsoft.com/robotics/2006/07/physicalmodel.html" xmlns:phys="http://schemas.microsoft.com/robotics/2006/04/simulation/physics.html" xmlns="http://schemas.microsoft.com/robotics/2006/04/simulationengine.html">
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					<sim:Effect>LaserRangeFinder.fx</sim:Effect>
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				<sim:Velocity>
					<physm:X>-5.849387E-09</physm:X>
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				<sim:MassDensity>
					<phys:Mass>0.5</phys:Mass>
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						<physm:Position>
							<physm:X>0</physm:X>
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				<sim:Flags>Dynamic</sim:Flags>
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								<physm:Y>1</physm:Y>
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								<physm:X>1</physm:X>
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								<physm:Z>1.02300222E-08</physm:Z>
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								<physm:X>1</physm:X>
								<physm:Y>1.07013234E-08</physm:Y>
								<physm:Z>-4.762509E-06</physm:Z>
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							<physm:JointConnectPoint>
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								<physm:Z>-1.47992978E-08</physm:Z>
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						<physm:ProjectionAngleThreshold>1.401298E-45</physm:ProjectionAngleThreshold>
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				</physm:State>
			</ParentJoint>
			<ReferenceFrame>Global</ReferenceFrame>
			<ServiceContract>http://schemas.microsoft.com/robotics/simulation/services/2006/05/simulatedlrf.html</ServiceContract>
			<MeshScale>
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				<physm:Z>1</physm:Z>
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				<physm:Z>0</physm:Z>
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			<MeshTranslation>
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			<LaserBox>
				<phys:BoxState>
					<phys:Name>P3DXLaserRangeFinder/SickLRF</phys:Name>
					<phys:ShapeId>Box</phys:ShapeId>
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						<physm:X>0.15</physm:X>
						<physm:Y>0.2</physm:Y>
						<physm:Z>0.18</physm:Z>
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					<phys:Radius>0</phys:Radius>
					<phys:MassDensity>
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							<physm:Orientation>
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					<phys:LocalPose>
						<physm:Position>
							<physm:X>0</physm:X>
							<physm:Y>0.3</physm:Y>
							<physm:Z>0</physm:Z>
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						<physm:Orientation>
							<physm:X>0</physm:X>
							<physm:Y>0</physm:Y>
							<physm:Z>0</physm:Z>
							<physm:W>1</physm:W>
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					</phys:LocalPose>
					<phys:TextureFileName />
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						<physm:X>0.25</physm:X>
						<physm:Y>0.25</physm:Y>
						<physm:Z>0.8</physm:Z>
						<physm:W>1</physm:W>
					</phys:DiffuseColor>
					<phys:EnableContactNotifications>false</phys:EnableContactNotifications>
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			</LaserBox>
			<ImpactPointEffect>LaserRangeFinder.fx</ImpactPointEffect>
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		<BumperArrayEntity xmlns:sim="http://schemas.microsoft.com/robotics/2006/04/simulation.html" xmlns:physm="http://schemas.microsoft.com/robotics/2006/07/physicalmodel.html" xmlns:phys="http://schemas.microsoft.com/robotics/2006/04/simulation/physics.html" xmlns="http://schemas.microsoft.com/robotics/2006/04/simulationengine.html">
			<sim:State>
				<sim:Name>P3DXBumpers</sim:Name>
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					<sim:Effect>default</sim:Effect>
				</sim:Assets>
				<sim:Pose>
					<physm:Position>
						<physm:X>1.000001</physm:X>
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					<physm:Orientation>
						<physm:X>-3.45008232E-07</physm:X>
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					<physm:X>1.37185452E-09</physm:X>
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					<physm:X>-2.57251E-07</physm:X>
					<physm:Y>2.983444E-09</physm:Y>
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				<sim:MassDensity>
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							<physm:X>0</physm:X>
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						<physm:Orientation>
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				<sim:Flags>Dynamic</sim:Flags>
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			<Flags>DisableRendering</Flags>
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			<ParentJoint>
				<physm:State>
					<physm:Name>P3DXBumpers's parent joint</physm:Name>
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								<physm:X>1.96775329E-09</physm:X>
								<physm:Y>1</physm:Y>
								<physm:Z>1.40716976E-08</physm:Z>
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								<physm:X>1</physm:X>
								<physm:Y>-1.96768624E-09</physm:Y>
								<physm:Z>-4.76237028E-06</physm:Z>
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								<physm:X>1.96775329E-09</physm:X>
								<physm:Y>1</physm:Y>
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							<physm:JointAxis>
								<physm:X>1</physm:X>
								<physm:Y>-1.96768624E-09</physm:Y>
								<physm:Z>-4.76237028E-06</physm:Z>
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							<physm:JointConnectPoint>
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					<physm:Projection>
						<physm:ProjectionMode>LinearMinimumDistance</physm:ProjectionMode>
						<physm:ProjectionDistanceThreshold>1.401298E-45</physm:ProjectionDistanceThreshold>
						<physm:ProjectionAngleThreshold>1.401298E-45</physm:ProjectionAngleThreshold>
					</physm:Projection>
				</physm:State>
			</ParentJoint>
			<ReferenceFrame>Global</ReferenceFrame>
			<ServiceContract>http://schemas.microsoft.com/robotics/simulation/services/2006/05/simulatedbumper.html</ServiceContract>
			<MeshScale>
				<physm:X>1</physm:X>
				<physm:Y>1</physm:Y>
				<physm:Z>1</physm:Z>
			</MeshScale>
			<MeshRotation>
				<physm:X>0</physm:X>
				<physm:Y>0</physm:Y>
				<physm:Z>0</physm:Z>
			</MeshRotation>
			<MeshTranslation>
				<physm:X>0</physm:X>
				<physm:Y>0</physm:Y>
				<physm:Z>0</physm:Z>
			</MeshTranslation>
			<Shapes>
				<BoxShape>
					<phys:BoxState>
						<phys:Name>/P3DXBumpers/front</phys:Name>
						<phys:ShapeId>Box</phys:ShapeId>
						<phys:Dimensions>
							<physm:X>0.4</physm:X>
							<physm:Y>0.03</physm:Y>
							<physm:Z>0.03</physm:Z>
						</phys:Dimensions>
						<phys:Radius>0</phys:Radius>
						<phys:MassDensity>
							<phys:Mass>0.001</phys:Mass>
							<phys:InertiaTensor>
								<physm:X>0</physm:X>
								<physm:Y>0</physm:Y>
								<physm:Z>0</physm:Z>
							</phys:InertiaTensor>
							<phys:CenterOfMass>
								<physm:Position>
									<physm:X>0</physm:X>
									<physm:Y>0</physm:Y>
									<physm:Z>0</physm:Z>
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